mirror of https://github.com/ArduPilot/ardupilot
110 lines
2.1 KiB
Plaintext
110 lines
2.1 KiB
Plaintext
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# parameters for the Stinger drone
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# flight modes
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FLTMODE1 5
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FLTMODE4 2
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FLTMODE_CH 6
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# enable PID logging
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LOG_BITMASK 65535
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# mag field varies quite a lot between batteries
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ARMING_MAGTHRESH 200
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# IMU orientation
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# 4 = YAW 180
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AHRS_ORIENTATION 4
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# Forced external compass
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COMPASS_EXTERNAL 2
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# compass orientation
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# 2 = YAW 90
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COMPASS_ORIENT 8
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# filtering
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INS_GYRO_FILTER 40
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INS_HNTCH_ENABLE 1
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INS_HNTCH_ATT 40.0
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INS_HNTCH_BW 50.0
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INS_HNTCH_FM_RAT 1.0
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INS_HNTCH_FREQ 100.0
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INS_HNTCH_HMNCS 7
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INS_HNTCH_MODE 3
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INS_HNTCH_OPTS 2
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INS_HNTCH_REF 1.0
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# run IMU at 2kHz
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INS_GYRO_RATE 1
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# a bit more agressive loiter
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PILOT_SPEED_UP 500
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LOIT_BRK_ACCEL 500
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LOIT_BRK_JERK 1000
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LOIT_BRK_DELAY 0.200000
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# Tune parameters from Quik Tune
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ATC_ACCEL_Y_MAX 30000.0
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ATC_ACCEL_R_MAX 125000.0
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ATC_ACCEL_P_MAX 125000.0
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ATC_RAT_PIT_D 0.002856164472177625
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ATC_RAT_PIT_FLTD 40.0
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ATC_RAT_PIT_FLTT 40.0
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ATC_RAT_PIT_I 0.124929137527942657
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ATC_RAT_PIT_P 0.124929137527942657
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ATC_RAT_PIT_SMAX 50.0
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ATC_RAT_RLL_D 0.001519999350421131
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ATC_RAT_RLL_FLTD 40.0
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ATC_RAT_RLL_FLTT 40.0
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ATC_RAT_RLL_I 0.075611755251884460
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ATC_RAT_RLL_P 0.075611755251884460
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ATC_RAT_RLL_SMAX 50.0
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ATC_RAT_YAW_D 0.010000008158385754
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ATC_RAT_YAW_FLTD 40.0
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ATC_RAT_YAW_FLTE 2.0
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ATC_RAT_YAW_FLTT 40.0
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ATC_RAT_YAW_I 0.050000030547380447
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ATC_RAT_YAW_P 0.500000298023223877
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ATC_RAT_YAW_SMAX 50.0
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# battery setup
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BATT_LOW_VOLT 14.2
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BATT_OPTIONS 64
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BATT_VOLT_PIN 1
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BATT_CURR_PIN 2
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BATT_VOLT_MULT 1
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BATT_AMP_PERVLT 1
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BATT_AMP_OFFSET 0.0
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# 4S battery range
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MOT_BAT_VOLT_MAX 16.800000
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MOT_BAT_VOLT_MIN 13.200000
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# Learned hover thrust
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MOT_THST_EXPO 0.550000011920928955
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MOT_THST_HOVER 0.130549192428588867
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# quad-X
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FRAME_CLASS 1
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# tweak R/C inputs
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RC1_MIN 1000
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RC1_MAX 2000
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RC1_DZ 40
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RC2_MIN 1000
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RC2_MAX 2000
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RC2_REVERSED 1
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RC3_MIN 1000
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RC3_MAX 2000
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RC4_MIN 1000
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RC4_MAX 2000
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RC4_DZ 40
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# add arming on right switch
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RC7_OPTION 153
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# Motor mappings
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SERVO1_FUNCTION 33
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SERVO2_FUNCTION 36
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SERVO3_FUNCTION 34
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SERVO4_FUNCTION 35
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